version: 66.07
glider: 500
mission: 7
dive: 160
start: 10 5 110 11 17 45
data:
$ID,500
$MISSION,7
$DIVE,160
$D_SURF,3
$D_FLARE,3
$D_TGT,460
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,191
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51806
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,390
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-118474.38
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,3290
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2750
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-66.799538
$PRESSURE_SLOPE,0.00011603366
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$GPS1,051010,110632,2104.366,-15756.007,12,2.0,12,9.8
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-76.5
$GPS2,051010,111650,2104.388,-15756.089,13,1.7,13,9.8
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,HOME2
$TGT_LATLONG,2108.000,-15751.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.211,-0.056
$KALMAN_X,-220676.7,-278.7,109.6,213973.8,-3451.3
$KALMAN_Y,-10803.6,94.0,35.9,-7989.2,-148.3
$MHEAD_RNG_PITCHd_Wd,95.0,11046,-16.1,-8.028
$D_GRID,460
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.68,-116.8,0.0,0.0,0,79,0.00,0.00,-60.92,0.000,2,0.000,0.000,127,1886,2827,0,0,0,0,0,0
$GC,82,-0.68,-116.8,3.3,-5.8,12,103,11.30,0.00,-7.25,0.000,6,0.232,0.000,3060,1886,3228,0,0,0,0,0,0
$GC,300,-0.68,-116.8,51.9,-18.2,41,301,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1887,3231,0,0,0,0,0,0
$GC,554,-0.68,-116.8,89.8,-10.3,65,558,0.00,2.30,0.00,0.000,4,0.000,0.040,3060,292,3232,0,0,0,0,0,0
$GC,599,-0.68,-116.8,94.6,-9.9,69,604,0.00,2.30,0.00,0.000,6,0.000,0.031,3050,1925,3233,0,0,0,0,0,0
$GC,860,-0.68,-116.8,129.5,-13.6,93,864,0.00,2.28,0.00,0.000,4,0.000,0.042,3038,3479,3234,0,0,0,0,0,0
$GC,899,-0.68,-116.8,134.0,-12.4,96,904,0.10,2.28,0.00,0.000,6,0.136,0.027,3072,1861,3234,0,0,0,0,0,0
$GC,1160,-0.68,-116.8,152.3,-7.7,120,1164,0.00,2.17,0.00,0.000,4,0.000,0.039,3072,330,3236,0,0,0,0,0,0
$GC,1233,-0.68,-116.8,159.4,-10.2,126,1237,0.00,2.20,0.00,0.000,6,0.000,0.031,3065,1911,3236,0,0,0,0,0,0
$GC,1493,-0.68,-116.8,187.6,-9.6,150,1497,0.00,2.25,0.00,0.000,4,0.000,0.041,3053,3476,3236,0,0,0,0,0,0
$GC,1510,-0.68,-116.8,189.0,-8.6,151,1514,0.00,2.17,0.00,0.000,6,0.000,0.026,3053,1905,3236,0,0,0,0,0,0
$GC,1767,-0.68,-116.8,211.2,-8.0,169,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1905,3236,0,0,0,0,0,0
$GC,2077,-0.68,-116.8,233.2,-7.6,184,2081,0.00,2.25,0.00,0.000,4,0.000,0.039,3053,321,3236,0,0,0,0,0,0
$GC,2196,-0.68,-116.8,244.0,-9.7,189,2200,0.00,2.20,0.00,0.000,6,0.000,0.028,3042,1903,3236,0,0,0,0,0,0
$GC,2511,-0.68,-116.8,278.3,-11.6,204,2515,0.00,2.25,0.00,0.000,4,0.000,0.041,3031,3483,3236,0,0,0,0,0,0
$GC,2582,-0.68,-116.8,286.5,-11.0,207,2587,0.10,2.22,0.00,0.000,6,0.094,0.025,3074,1904,3236,0,0,0,0,0,0
$GC,2900,-0.68,-116.8,311.8,-7.2,219,2904,0.00,2.25,0.00,0.000,4,0.000,0.039,3074,320,3235,0,0,0,0,0,0
$GC,3023,-0.68,-116.8,320.6,-6.5,221,3029,0.00,2.20,0.00,0.000,6,0.000,0.029,3069,1902,3235,0,0,0,0,0,0
$GC,3355,-0.68,-116.8,335.6,-4.0,230,3359,0.00,2.28,0.00,0.000,4,0.000,0.039,3069,314,3234,0,0,0,0,0,0
$GC,3438,-0.68,-116.8,340.5,-6.0,231,3444,0.00,2.25,0.00,0.000,6,0.000,0.029,3058,1902,3233,0,0,0,0,0,0
$GC,3769,-0.68,-116.8,365.0,-8.1,240,3773,0.00,2.28,0.00,0.000,4,0.000,0.041,3046,3475,3231,0,0,0,0,0,0
$GC,3790,-0.68,-116.8,366.9,-8.3,240,3795,0.00,2.22,0.00,0.000,6,0.000,0.026,3046,1905,3231,0,0,0,0,0,0
$GC,4133,-0.68,-116.8,398.1,-9.4,249,4137,0.00,2.30,0.00,0.000,4,0.000,0.040,3046,324,3230,0,0,0,0,0,0
$GC,4182,-0.68,-116.8,403.2,-10.1,250,4187,0.12,2.20,0.00,0.000,6,0.128,0.029,3077,1909,3229,0,0,0,0,0,0
$GC,4501,-0.68,-116.8,428.9,-8.0,258,4505,0.00,2.30,0.00,0.000,4,0.000,0.040,3078,321,3227,0,0,0,0,0,0
$GC,4561,-0.68,-116.8,434.2,-8.1,259,4566,0.00,2.25,0.00,0.000,6,0.000,0.029,3068,1906,3226,0,0,0,0,0,0
$GC,4910,-0.68,-116.8,456.5,-5.8,268,4914,0.00,2.28,0.00,0.000,4,0.000,0.040,3068,321,3224,0,0,0,0,0,0
$GC,4959,-0.68,-116.8,459.7,-6.8,269,4963,0.00,2.25,0.00,0.000,6,0.000,0.029,3057,1904,3224,0,0,0,0,0,0
$STATE,4968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4968,begin apogee
$GC,4973,-0.23,0.0,460.3,6.2,269,5065,0.43,0.00,89.28,0.884,6,0.093,0.000,3217,2012,2750,0,0,0,0,0,0
$STATE,5066,end apogee,CONTROL_FINISHED_OK
$STATE,5067,begin climb
$GC,5068,0.68,116.8,461.5,0.0,271,5175,0.75,2.42,96.47,0.864,4,0.041,0.040,3541,3556,2272,0,0,0,0,0,0
$GC,5354,0.68,116.8,441.5,11.6,277,5359,0.12,2.30,0.00,0.000,6,0.144,0.028,3513,1988,2261,0,0,0,0,0,0
$GC,5697,0.68,116.8,410.4,8.5,286,5701,0.00,2.28,0.00,0.000,4,0.000,0.039,3524,418,2257,0,0,0,0,0,0
$GC,5871,0.68,116.8,394.8,8.8,290,5875,0.00,2.28,0.00,0.000,6,0.000,0.031,3524,1993,2255,0,0,0,0,0,0
$GC,6197,0.69,125.3,370.1,7.6,298,6207,0.00,2.35,4.88,0.611,4,0.000,0.041,3524,3588,2239,0,0,0,0,0,0
$GC,6460,0.69,125.3,348.4,8.4,304,6464,0.00,2.28,0.00,0.000,6,0.000,0.028,3535,1994,2237,0,0,0,0,0,0
$GC,6784,0.70,135.5,322.9,7.6,312,6798,0.00,2.28,9.32,0.730,4,0.000,0.040,3547,432,2197,0,0,0,0,0,0
$GC,6994,0.74,163.2,309.0,6.7,316,7024,0.00,2.28,24.02,0.782,6,0.000,0.030,3547,2001,2083,0,0,0,0,0,0
$GC,7335,0.74,163.2,278.5,10.2,330,7339,0.00,2.30,0.00,0.000,4,0.000,0.041,3547,3583,2076,0,0,0,0,0,0
$GC,7490,0.74,163.2,259.0,13.6,337,7496,0.08,2.30,0.00,0.000,6,0.154,0.028,3533,1999,2074,0,0,0,0,0,0
$GC,7817,0.74,163.2,226.9,8.7,353,7821,0.00,2.28,0.00,0.000,4,0.000,0.039,3544,419,2073,0,0,0,0,0,0
$GC,7912,0.74,163.2,218.6,8.4,357,7916,0.00,2.28,0.00,0.000,6,0.000,0.031,3544,2016,2072,0,0,0,0,0,0
$GC,8237,0.74,163.2,189.4,9.6,378,8241,0.00,2.25,0.00,0.000,4,0.000,0.041,3544,3579,2072,0,0,0,0,0,0
$GC,8410,0.74,163.2,171.2,9.7,393,8415,0.00,2.25,0.00,0.000,6,0.000,0.028,3556,1987,2071,0,0,0,0,0,0
$GC,8670,0.74,163.2,151.1,8.0,417,8675,0.00,2.33,0.00,0.000,4,0.000,0.041,3556,3585,2071,0,0,0,0,0,0
$GC,8733,0.74,163.2,145.2,10.3,422,8737,0.15,2.25,0.00,0.000,6,0.170,0.028,3525,1999,2071,0,0,0,0,0,0
$GC,8998,0.76,177.9,123.7,7.3,447,9014,0.00,2.28,11.20,0.597,4,0.000,0.037,3536,419,2024,0,0,0,0,0,0
$GC,9207,0.84,242.9,107.6,5.0,465,9269,0.00,2.25,52.35,0.621,6,0.000,0.030,3536,2017,1758,0,0,0,0,0,0
$GC,9523,0.84,242.9,79.6,8.5,495,9527,0.00,2.30,0.00,0.000,4,0.000,0.039,3536,3586,1750,0,0,0,0,0,0
$GC,9663,0.84,242.9,66.5,8.7,507,9667,0.00,2.25,0.00,0.000,6,0.000,0.027,3548,1994,1748,0,0,0,0,0,0
$GC,9923,0.84,242.9,48.5,8.2,531,9927,0.00,2.25,0.00,0.000,4,0.000,0.039,3559,431,1748,0,0,0,0,0,0
$GC,9991,0.84,242.9,42.5,8.5,537,9995,0.00,2.20,0.00,0.000,6,0.000,0.029,3559,2002,1747,0,0,0,0,0,0
$GC,10257,0.84,242.9,18.7,10.2,571,10262,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2002,1747,0,0,0,0,0,0
$STATE,10411,end climb,SURFACE_DEPTH_REACHED
$STATE,10411,begin surface coast
$FINISH,0.4,1.023044
$STATE,10441,end surface coast,CONTROL_FINISHED_OK
$STATE,10441,begin surface
$SM_CCo,10458,79.68,0.458,1,0,1159,390.02
$SM_GC,1.16,0.00,0.00,79.68,0.000,0.000,0.458,137,1888,1159,-9.85,-0.34,390.02
$IRIDIUM_FIX,2057.14,-15753.90,300312,020220
$TT8_MAMPS,0.027612
$HUMID,1078718055
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.4,17.165
$10V_AH,10.5,14.105
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.750,104.325,287.525,79.675,0.000,29.453,32.993,434.018,0.000,0.000,15.430,1255.626,7293.760,447.977,1956.178,212.610,33.388,1249.032,0.000,1446.740,0.000,0.541,0.000
$DEVICE_MAMPS,232.401,104.312,884.351,457.899,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,408.095,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334604
$DATA_FILE_SIZE,20143,604
$CAP_FILE_SIZE,153479,0
$CFSIZE,260165632,226627584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051010,141437,2104.025,-15756.418,31,1.0,32,9.8